Sys Tec Electronic GW-003, System Manual

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CAN – Ethernet Gateway
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©
SYS TEC electronic GmbH 2007 L-1032e_9
6.2 Error Indication under Windows
All of the error states listed above are indicated by pop-up windows.
6.3 Error Messages over CAN
Error messages can be sent according to the CANopen standard
(emergency messages) in order to be able to evaluate the state of the
Gateway from the CAN network.
The transmission of error messages with the identifier to be used in the
CAN-Ethernet Gateway, can be activated with the option
canid:<id>
when the CAN interface is created.
In the standard configuration transmission of an error message with
identifier 0xFE is enabled.
The format of the error message is specified as follows:
Byte 0 1 2 3 4 5 6 7
Contents Emergency
Code Error
Register Interface
Number Error Code reserved reserved
Table 8: Structure of a CAN Emergency Message
The emergency code can assume the following values:
0x1000: if a new common error has occurred
0x8140: node comes out of CAN bus-off state
0x0000: the device works properly, no errors
The error register is 0x80 if there are still errors present and 0x00 if all
errors have been corrected. In the next field the number of the
interface where the error occurred is displayed, followed by a bit
mask, which shows what errors are present. For the 2 byte long
emergency and error codes (byte 0/1 and 4/5) the MSB portion is sent
last, e.g. 00 10 for 0x1000.